Commit 70913598 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[script] add script for navigation in bauzil room

parent 8e03923f
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from display_tools import *
......@@ -64,8 +63,6 @@ q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref)
fullBody.setCurrentConfig (q_init)
qfar=q_ref[::]
qfar[2] = -5
print "Generate limb DB ..."
tStart = time.time()
......
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from display_tools import *
import time
from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
print "Plan guide trajectory ..."
import talos_navBauzil_path as tp
print "Done."
import time
##
# Information to retrieve urdf and srdf files.
packageName = "talos_data"
meshPackageName = "talos_data"
rootJointType = "freeflyer"
urdfName = "talos"
urdfSuffix = "_reduced"
srdfSuffix = ""
rLegId = 'talos_rleg_rom'
rleg = 'leg_right_1_joint'
rfoot = 'leg_right_6_joint'
lLegId = 'talos_lleg_rom'
lleg = 'leg_left_1_joint'
lfoot = 'leg_left_6_joint'
rArmId = 'talos_rarm_rom'
rarm = 'arm_right_1_joint'
rhand = 'arm_right_7_joint'
lArmId = 'talos_larm_rom'
larm = 'arm_left_1_joint'
lhand = 'arm_left_7_joint'
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
root_bounds = tp.root_bounds[::]
root_bounds[0] -= 0.2
root_bounds[1] += 0.2
root_bounds[2] -= 0.2
root_bounds[3] += 0.2
root_bounds[-1] = 1.2
root_bounds[-2] = 0.8
fullBody.setJointBounds ("root_joint", root_bounds)
fullBody.client.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.robot.setExtraConfigSpaceBounds([-tp.vMax,tp.vMax,-tp.vMax,tp.vMax,0,0,-tp.aMax,tp.aMax,-tp.aMax,tp.aMax,0,0])
ps = tp.ProblemSolver( fullBody )
ps.setParameter("Kinodynamic/velocityBound",tp.vMax)
ps.setParameter("Kinodynamic/accelerationBound",tp.aMax)
v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
q_ref = [
0.0, 0.0, 1.0232773, 0.0 , 0.0, 0.0, 1., #Free flyer
0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, #Left Leg
0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, #Right Leg
0.0 , 0.006761, #Chest
0.25847 , 0.173046, -0.0002, -0.525366, 0.0, -0.0, 0.1,-0.005, #Left Arm
-0.25847 , -0.173046, 0.0002 , -0.525366, 0.0, 0.0, 0.1,-0.005,#Right Arm
0., 0. , #Head
0,0,0,0,0,0]; v (q_ref)
q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref)
fullBody.setCurrentConfig (q_init)
print "Generate limb DB ..."
tStart = time.time()
# generate databases :
nbSamples = 10000
rLegOffset = [0., -0.00018, -0.107]
rLegOffset[2] += 0.006
rLegNormal = [0,0,1]
rLegx = 0.1; rLegy = 0.06
fullBody.addLimb(rLegId,rleg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "fixedStep08", 0.01)
fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/talos_rLeg_walk.db")
lLegOffset = [0., -0.00018, -0.107]
lLegOffset[2] += 0.006
lLegNormal = [0,0,1]
lLegx = 0.1; lLegy = 0.06
fullBody.addLimb(lLegId,lleg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "fixedStep08", 0.01)
fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/talos_lLeg_walk.db")
tGenerate = time.time() - tStart
print "Done."
print "Databases generated in : "+str(tGenerate)+" s"
q_0 = fullBody.getCurrentConfig();
configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation
q_goal = q_init[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
dir_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS:tp.indexECS+3]
acc_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS+3:tp.indexECS+6]
dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.01)[tp.indexECS:tp.indexECS+3]
acc_goal = [0,0,0]
robTreshold = 3
# copy extraconfig for start and init configurations
q_init[configSize:configSize+3] = dir_init[::]
q_init[configSize+3:configSize+6] = acc_init[::]
q_goal[configSize:configSize+3] = dir_goal[::]
q_goal[configSize+3:configSize+6] = [0,0,0]
q_init[2] = q_ref[2]
q_goal[2] = q_ref[2]
fullBody.setStaticStability(True)
fullBody.setCurrentConfig (q_init)
v(q_init)
fullBody.setCurrentConfig (q_goal)
v(q_goal)
# specifying the full body configurations as start and goal state of the problem
v.addLandmark('talos/base_link',0.3)
v(q_init)
fullBody.setStartState(q_init,[lLegId,rLegId])
fullBody.setEndState(q_goal,[lLegId,rLegId])
from hpp.gepetto import PathPlayer
pp = PathPlayer ( v)
print "Generate contact plan ..."
tStart = time.time()
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = False)
tInterpolateConfigs = time.time() - tStart
print "Done."
print "number of configs :", len(configs)
raw_input("Press Enter to display the contact sequence ...")
displayContactSequence(v,configs)
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
from hpp.corbaserver import Client
from hpp.corbaserver import ProblemSolver
import time
rootJointType = 'freeflyer'
packageName = 'talos-rbprm'
meshPackageName = 'talos-rbprm'
urdfName = 'talos_trunk'
urdfNameRom = ['talos_larm_rom','talos_rarm_rom','talos_lleg_rom','talos_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
vMax = 0.3
aMax = 0.1
extraDof = 6
mu=0.5
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
root_bounds = [-2.3,4.6,-1.5,3.3, 0.98, 0.98]
rbprmBuilder.setJointBounds ("root_joint", root_bounds)
rbprmBuilder.setJointBounds ('torso_1_joint', [0,0])
rbprmBuilder.setJointBounds ('torso_2_joint', [0,0])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(['talos_lleg_rom','talos_rleg_rom'])
rbprmBuilder.setAffordanceFilter('talos_lleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('talos_rleg_rom', ['Support'])
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder.boundSO3([-4.,4.,-0.1,0.1,-0.1,0.1])
rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
rbprmBuilder.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,-aMax,aMax,-aMax,aMax,0,0])
indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.robot.getDimensionExtraConfigSpace()
# Creating an instance of HPP problem solver and the viewer
ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
#ps.setParameter("Kinodynamic/forceOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu)
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
afftool.loadObstacleModel ("hpp-rbprm-corba", "floor_bauzil", "planning", vf)
v = vf.createViewer(displayArrows = True)
afftool.visualiseAffordances('Support', v, v.color.lightBrown)
# Setting initial configuration
q_init = rbprmBuilder.getCurrentConfig ();
q_init [0:3] = [-0.9,1.5,0.98]
q_init[-6:-3] = [0.07,0,0]
v (q_init)
# set goal config
rbprmBuilder.setCurrentConfig (q_init)
q_goal = q_init [::]
q_goal[0:3] = [2,2.6,0.98]
q_goal[-6:-3] = [0.1,0,0]
v(q_goal)
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
# Choosing RBPRM shooter and path validation methods.
ps.selectConfigurationShooter("RbprmShooter")
ps.addPathOptimizer ("RandomShortcutDynamic")
ps.selectPathValidation("RbprmPathValidation",0.05)
# Choosing kinodynamic methods :
ps.selectSteeringMethod("RBPRMKinodynamic")
ps.selectDistance("Kinodynamic")
ps.selectPathPlanner("DynamicPlanner")
t = ps.solve ()
print "Guide planning time : ",t
# display solution :
from hpp.gepetto import PathPlayer
pp = PathPlayer (v)
pp.dt=0.03
pp.displayVelocityPath(0)
v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp(0)
q_far = q_init[::]
q_far[2] = -2
v(q_far)
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